Object manipulation is fundamental to virtual reality (VR) applications, yet conventional fingertip haptic devices fail to render certain tactile features relevant for immersive and precise interactions, as i.e. detection of edges. This paper presents a compact, lightweight fingertip haptic device (24.3 g) that delivers distinguishable surface and edge contact feedback through a novel dual-motor mechanism. Pressure distribution characterization using a 6 x 6 flexible sensor array demonstrates distinct contact patterns between the two stimulation modes. A preliminary user study with five participants achieved 93% average classification accuracy across four conditions (edge/surface contact with light/heavy pressure), with mean response times of 2.79 seconds. The results indicate that the proposed device can effectively convey edge and surface tactile cues, potentially enhancing object manipulation fidelity in VR environments.

翻译：物体操作是虚拟现实（VR）应用的基础，然而传统的指尖触觉设备无法呈现某些与沉浸式和精确交互相关的触觉特征，例如边缘的检测。本文提出了一种紧凑、轻量化的指尖触觉设备（24.3克），该设备通过新颖的双电机机制提供可区分的表面与边缘接触反馈。使用6×6柔性传感器阵列进行的压力分布表征表明，两种刺激模式之间存在不同的接触模式。一项包含五名参与者的初步用户研究在四种条件下（轻/重压力下的边缘/表面接触）实现了93%的平均分类准确率，平均响应时间为2.79秒。结果表明，所提出的设备能够有效传递边缘与表面的触觉线索，有望提升VR环境中的物体操作保真度。